Motor-driven surgical cutting instrument with electric actuator directional control assembly

ABSTRACT

A motor-driven surgical instrument that may comprise (i) a movable drive member that is driven in a first direction when the electric motor operates in a first direction and that is driven in a second direction when the electric motor operates in a second direction. Movement of the drive member causes movement of the movable component of the end effector, and (ii) a motor control circuit connected to the motor for controlling the motor. The motor control circuit may comprise a switching circuit that, upon actuation, reverses the direction of the motor from the first direction to the second direction. The switching circuit may be actuatable separately through each of: (i) actuation of a movable actuator of the switching circuit through movement of the drive member at least in the first direction; and (ii) manual actuation by a user of the surgical instrument.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. §120 to U.S. patent application Ser. No. 13/902,249, entitledMOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATORDIRECTIONAL CONTROL ASSEMBLY, filed May 24, 2013, published as U.S.Patent Application Publication No. 2013/0261648, which is a continuationapplication claiming priority under 35 U.S.C. §120 to U.S. patentapplication Ser. No. 13/482,179, entitled MOTOR-DRIVEN SURGICAL CUTTINGINSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filedMay 29, 2012, which issued on Jun. 4, 2013 as U.S. Pat. No. 8,453,914,which is a continuation application claiming priority under 35 U.S.C.§120 to U.S. patent application Ser. No. 12/647,100, entitledMOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATORDIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, which issued on Jul.17, 2012 as U.S. Pat. No. 8,220,688, the entire disclosures of which arehereby incorporated by reference herein.

BACKGROUND

Surgical staplers are used to simultaneously make a longitudinalincision in tissue and apply lines of staples on opposing sides of theincision. Such instruments commonly include an end effector having apair of cooperating jaw members that, if the instrument is intended forendoscopic or laparoscopic applications, are capable of passing througha cannula passageway. One of the jaw members receives a staple cartridgehaving at least two laterally spaced rows of staples—one on each side ofthe knife channel. The other jaw member defines an anvil havingstaple-forming pockets aligned with the rows of staples in thecartridge. The instrument includes a plurality of reciprocating wedgesthat, when driven distally, pass through openings in the staplecartridge and engage drivers supporting the staples to effect the firingof the staples toward the anvil. Simultaneously, a cutting instrument(or knife) is drawn distally along the jaw member so that the clampedtissue is cut and fastened (e.g., stapled) at the same time.

An example of a surgical stapler suitable for endoscopic applications isdescribed in U.S. Patent Application Publication No. 2004/0232196,entitled, SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSINGAND FIRING SYSTEMS, now U.S. Pat. No. 8,220,688, the disclosure of whichis herein incorporated by reference in its entirety. In use, a clinicianis able to close the jaw members of the stapler upon tissue to positionthe tissue prior to firing. Once the clinician has determined that thejaw members are properly gripping tissue, the clinician can then firethe surgical stapler, thereby severing and stapling the tissue. Thesimultaneous severing and stapling actions avoid complications that mayarise when performing such actions sequentially with different surgicaltools that respectively only sever or staple.

Motor-driven endocutters are known in the art. In such devices, anelectric motor powers the cutting and fastening action of theinstrument. It is also known to use an on-board battery, located in thehandle of the instrument, to power the motor. U.S. Patent ApplicationPublication No. 2007/0175952, entitled MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH LOADING FORCE FEEDBACK, now U.S. Pat. No.7,416,101, the disclosure of which is herein incorporated by referencein its entirety, describes one such motor-driven surgical instrument.

In motor-driven surgical instruments, it is sometimes preferable thatthe control circuit for controlling the operation of the motor does notinclude any integrated circuits (ICs) made of semiconductor materialbecause it is often difficult, complicated, and expensive to sterilize asurgical instrument including ICs.

SUMMARY

In one general aspect, the present invention is directed to amotor-driven surgical instrument having a control assembly forcontrolling a switch of the instrument. The switch may be part of thecircuit that controls the motor or part of some other circuit in theinstrument. In various embodiments, the surgical instrument comprises:(i) a handle; (ii) an end effector connected to the handle; (iii) anelectric motor in the handle for powering the end effector; (iv) a motorcontrol circuit connected to the motor for controlling the motor; (v) adrive member that is driven by the motor; and (vi) a slider. The motorcontrol circuit comprises a plurality of switches, including a firstswitch with a movable (e.g., depressible) actuator (e.g., plunger). Thedrive member, when driven by the motor, causes movement of a movablecomponent of the end effector, and the drive member comprises a firstshoulder at a first position and a second shoulder at a second position.The slider comprises a first portion and a second portion. The firstportion interfaces the drive member such that the slider is movable in adirection of movement of the drive member when either the first shoulderor the second shoulder of the drive member engages the first portion ofthe slider. The second portion of the slider actuates the movableactuator of the first switch when the drive member moves the slider to afirst position relative to the first switch. In various embodiments, theswitches of the control circuit are not embodied as a part of an IC.Thus in various embodiments, the motor control circuit does not comprisean integrated circuit. In various embodiments, the first switch controlsthe direction of rotation of the motor.

In various embodiments, the drive member may move longitudinally orrotationally when actuated by the motor. For example, in one embodiment,the drive member comprises a longitudinally movable rack that has, onone side, teeth geared to a pinion that is rotated by the motor, andthat defines a channel having the first and second shoulders on theother side of the rack. The first portion of the slider that interfaceswith the drive member may comprises one or more tabs that extend intothe channel. The second portion of the slider that actuates the switchmay comprise a cantilevered arm.

In yet another general aspect, the motor control circuit comprises aswitching circuit that, upon actuation, reverses the direction of themotor, and is actuatable separately through each of: (i) actuation of amovable actuator of the switching circuit through movement of the drivemember at least in the first direction; and (ii) manual actuation by auser of the surgical instrument.

FIGURES

Various embodiments of the present invention are described herein by wayof example in connection with the following figures, wherein:

FIG. 1 is a perspective view of a surgical instrument 10 according tovarious embodiments of the present invention, showing the handle, shaft,and end effector;

FIG. 2 is side view of a surgical instrument 10 according to variousembodiments of the present invention, showing the handle, the shaft, andthe end effector;

FIG. 3 is a schematic diagram of a motor control circuit for controllingthe motor of the surgical instrument according to various embodiments;

FIG. 4 is a downward-looking, front side perspective view of a directioncontrol assembly of the surgical instruments according to variousembodiments, showing, among other things, the direction control switch,the slider, the rack, and the pinion;

FIG. 5 is an upward-looking, back side perspective view of the directioncontrol assembly of FIG. 4 according to various embodiments;

FIG. 6 is an upward-looking, front side perspective view of thedirection control assembly of FIG. 4 according to various embodiments;

FIG. 7 is top side view of the direction control assembly of FIG. 4according to various embodiments;

FIG. 8 is a bottom side view of the direction control assembly of FIG. 4according to various embodiments;

FIG. 9 is a front side view of the direction control assembly of FIG. 4according to various embodiments;

FIG. 10 is a proximate side view of the direction control assembly ofFIG. 4 according to various embodiments;

FIG. 11 is a distal side view of the direction control assembly of FIG.4 according to various embodiments;

FIG. 12 is a downward-looking, front side, perspective view of thedirection control switch, the slider, and the rack of the directioncontrol assembly according to various embodiments;

FIG. 13 is top view of the direction control switch, the slider, and therack of the direction control assembly according to various embodiments;

FIG. 14 is an upward-looking, front side, perspective view of thedirection control switch, the slider, and the rack of the directioncontrol assembly according to various embodiments;

FIG. 15 is a distal side view of the direction control switch, theslider, and the rack of the direction control assembly according tovarious embodiments;

FIG. 16 is a downward-looking, front side, perspective view of theslider of the direction control assembly according to variousembodiments;

FIG. 17 is a back side, perspective view of the slider of the directioncontrol assembly according to various embodiments;

FIG. 18 is a front side view of the slider of the direction controlassembly according to various embodiments;

FIG. 19 is a distal side view of the slider of the direction controlassembly according to various embodiments;

FIGS. 20-21 is front side views of the direction control switch, theslider, and the rack according to various embodiments;

FIG. 22 is a front side view of the frame according to variousembodiments;

FIG. 23 is a front side, perspective view of the frame according tovarious embodiments;

FIG. 24 is a front side, perspective view of the frame and the slideraccording to various embodiments;

FIG. 25 is a front side view of the frame and the slider, with theslider in its proximate position, according to various embodiments;

FIG. 26 is a front side view of the frame and the slider, with theslider in its distal position, according to various embodiments;

FIG. 27 is a front side view of the direction control assembly accordingto various embodiments, showing, among other things, the circuit board,the direction control switch, the slider, the rack, and the frame;

FIG. 28 is a back side view of the direction control assembly of FIG. 27according to various embodiments;

FIG. 29 is an upward-looking, front side, perspective view of thedirection control assembly of FIG. 27 according to various embodiments;

FIG. 30 is a back side perspective view of the direction controlassembly of FIG. 27 according to various embodiments;

FIG. 31 is a bottom side view of the direction control assembly of FIG.27 according to various embodiments;

FIG. 32 is a back side, perspective view showing the circuit board,rack, pinion, and gear assembly according to various embodiments;

FIGS. 33-34 are front side perspective, cutaway views of the handleaccording to various embodiments;

FIG. 35 is a front side view of the handle according to variousembodiments;

FIGS. 36-37 are diagrams that show the rack connected to the drive shaftaccording to various embodiments; and

FIGS. 38-40 show drive members according to other various embodiments ofthe present invention.

DESCRIPTION

Certain embodiments of the present invention will now be described toprovide an overall understanding of the principles of the structure,function, manufacture, and use of the devices and methods disclosedherein. One or more examples of these embodiments are illustrated in theaccompanying drawings. Those of ordinary skill in the art willunderstand that the devices and methods specifically described hereinand illustrated in the accompanying drawings are non-limitingembodiments and that the scope of these embodiments is defined solely bythe claims. The features illustrated or described in connection with oneembodiment may be combined with the features of other embodiments. Suchmodifications and variations are intended to be included within thescope of the appended claims.

In general, embodiments of the present invention are directed to amotor-driven surgical instrument that comprises a mechanically actuatedslider for actuating an electric switch of the motor control circuitthat controls the operation of the electric motor. For example,actuation of the switch may reverse the polarity of the voltage suppliedto the motor, to thereby reverse the rotation of the motor. FIGS. 1 and2 depict a motor-driven surgical cutting and fastening instrument 10that may include the mechanically actuated slider according to variousembodiments of the present invention. The illustrated embodiment is anendoscopic instrument and, in general, the embodiments of the instrument10 described herein are endoscopic surgical cutting and fasteninginstruments. It should be noted, however, that the invention is not solimited and that according to other embodiments of the presentinvention, the instrument may be a non-endoscopic surgical cutting andfastening instrument, such as a laparoscopic instrument.

The surgical instrument 10 depicted in FIGS. 1 and 2 comprises a handle6, a shaft 8, and an end effector 12 connected to the shaft 8. Invarious embodiments, the end effector 12 can be articulated about anarticulation pivot 14. An articulation control 16 may be providedadjacent to the handle 6 to effect rotation of the end effector 12 aboutthe articulation pivot 14. In the illustrated embodiment, the endeffector 12 is configured to act as an endocutter for clamping, severingand stapling tissue, although, in other embodiments, different types ofend effectors may be used, such as end effectors for other types ofsurgical devices, such as graspers, cutters, staplers, clip appliers,access devices, drug/gene therapy devices, ultrasound, RF or laserdevices, etc. More details regarding RF devices may be found in U.S.Pat. No. 5,403,312 and U.S. patent application Ser. No. 12/031,573,entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES,filed Feb. 14, 2008, both of which are incorporated by reference intheir entirety.

The handle 6 of the instrument 10 may include a closure trigger 18 and afiring trigger 20 for actuating the end effector 12. It will beappreciated that instruments having end effectors directed to differentsurgical tasks may have different numbers or types of triggers or othersuitable controls for operating the end effector 12. The end effector 12is shown separated from the handle 6 by the elongate shaft 8. In oneembodiment, a clinician or operator of the instrument 10 may articulatethe end effector 12 relative to the shaft 8 by utilizing thearticulation control 16, as described in more detail in published U.S.Patent Application Publication No. 2007/0158385, entitled SURGICALINSTRUMENT HAVING AN ARTICULATING END EFFECTOR, now U.S. Pat. No.7,670,334, which is incorporated herein by reference in its entirety.

The end effector 12 includes in this example, among other things, astaple channel 22 and a pivotally translatable clamping member, such asan anvil 24, which are maintained at a spacing that assures, when theanvil 24 is in its clamped position, effective stapling and severing oftissue clamped in the end effector 12. The handle 6 includes adownwardly extending pistol grip 26, towards which a closure trigger 18is pivotally drawn by the clinician to cause clamping or closing of theanvil 24 toward the staple channel 22 of the end effector 12 to therebyclamp tissue positioned between the anvil 24 and channel 22. The firingtrigger 20 is farther outboard of the closure trigger 18. Once theclosure trigger 18 is locked in the closure position, the firing trigger20 may rotate slightly toward the pistol grip 26 so that it can bereached by the operator using one hand. Then the operator may pivotallydraw the firing trigger 20 toward the pistol grip 12 to cause thestapling and severing of clamped tissue in the end effector 12. In otherembodiments, different types of clamping members besides the anvil 24could be used. The handle 6 may also include an upper portion 28 thatmay sit on top of the user's hand when the user grips the pistol gripportion 26 with his/her hand.

It will be appreciated that the terms “proximal” and “distal” are usedherein with reference to a clinician gripping the handle 6 of aninstrument 10. Thus, the end effector 12 is distal with respect to themore proximal handle 6. It will be further appreciated that, forconvenience and clarity, spatial terms such as “vertical” and“horizontal” are used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and absolute.

In operational use, the closure trigger 18 may be actuated first. Oncethe clinician is satisfied with the positioning of the end effector 12,the clinician may draw back the closure trigger 18 to its fully closed,locked position proximate to the pistol grip 26. The firing trigger 20may then be actuated. The firing trigger 20 returns to the open position(shown in FIGS. 1 and 2) when the clinician removes pressure. A releasebutton on the handle 6, when depressed may release the locked closuretrigger 18. The release button may be implemented in various forms suchas, for example, as disclosed in U.S. Patent Application Publication No.2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITHCLOSURE TRIGGER LOCKING MECHANISM, which is incorporated herein byreference in its entirety.

The end effector 12 may include a cutting instrument, such as knife, forcutting tissue clamped in the end effector 12 when the firing trigger 20is retracted by a user. The end effector 12 may also comprise means forfastening the tissue severed by the cutting instrument, such as staples,RF electrodes, adhesives, etc. More details regarding possibleconfigurations of the end effector 12 may be found in the followingpatents and published patent applications, which are incorporated hereinby reference in their entirety: U.S. Pat. No. 5,709,680; U.S. Pat. No.5,688,270; U.S. Pat. No. 7,000,818; U.S. Patent Application PublicationNo. 2005/0173490, now U.S. Pat. No. 7,140,528; U.S. Patent ApplicationPublication No. 2006/0025809, now U.S. Pat. No. 7,506,790; U.S. PatentApplication Publication No. 2007/0102453, now U.S. Pat. No. 7,673,783;U.S. Patent Application Publication No. 2007/0102452, now U.S. Pat. No.7,607,557; U.S. Patent Application Publication No. 2009/0206134, nowU.S. Pat. No. 7,857,185; and U.S. Patent Application Publication No.2009/0206124, now U.S. Pat. No. 7,819,298.

The instrument 10 may also comprise a closure system for closing (orclamping) the end effector upon closure (or retraction) of the closuretrigger 18. More details regarding embodiments of an exemplary closuresystem for closing (or clamping) the anvil 24 of the end effector 12 byretracting the closure trigger 18 are provided in the following U.S.Patent references, which are incorporated herein by reference in theirentirety: U.S. Patent Application Publication No. 2004/0232196, now U.S.Pat. No. 7,000,818; U.S. Patent Application Publication No.2007/0175956, now U.S. Pat. No. 7,644,848; U.S. Patent ApplicationPublication No. 2007/0158385, now U.S. Pat. No. 7,670,334; U.S. PatentApplication Publication No. 2007/0175962, now U.S. Pat. No. 7,422,139;U.S. Pat. No. 7,464,849; and the references cited in the paragraphabove.

A longitudinally movable drive shaft located within the shaft 8 of theinstrument 10 may drive/actuate the cutting instrument and the fasteningmeans in the end effector 12. An electric motor, located in the pistolgrip portion 26 of the handle 6 of the instrument 10, may be used todrive, indirectly, the drive shaft, as described further herein. Invarious embodiments, the motor may be a DC brushed driving motor havinga maximum rotation of, approximately, 25,000 RPM. In other embodiments,the motor may include a brushless motor, a cordless motor, a synchronousmotor, a stepper motor, or any other suitable electric motor. A battery(or “power source” or “power pack”), such as a Li ion battery, may beprovided in the pistol grip portion 26 of the handle 6 adjacent to themotor. The battery supplies electric power to the motor via a motorcontrol circuit. According to various embodiments, a number of batterycells connected in series may be used as the power source to power themotor. In addition, the power source may be replaceable and/orrechargeable.

FIG. 3 is a schematic diagram of a control circuit 40 used to power theelectric motor 42 with electrical power from a battery pack 44. In theillustrated embodiment, when a run motor (or fire) switch 46 is closed(it is shown in an open state in FIG. 3), and when a safety switch 48 isclosed (it is shown open in FIG. 3), indicating that the device safetyis set, and when a normally-closed lockout switch 50 is open, indicatingthat the instrument 10 is not in a lock-out condition, current flowsthrough the safety switch 48, through a lockout indicator 52 (which maybe a LED as shown in FIG. 3, that is located on the outside of thehandle 6 such that it is visible to the operator of the instrument 10)to the motor 42. The run motor (or fire) switch 46 may be activated (orclosed) when the operator of the instrument 10 retracts the firingtrigger 20.

When the end of the cutting stroke is reached, that is, for example,when the cutting instrument in the end effector reaches the end of itscutting stroke, an end-of-stroke or direction switch 54 is switched to aclosed position, reversing the polarity of the voltage applied to themotor 42 to thereby reverse the direction of rotation of the motor 42(with the fire switch 46 also having been released or opened by theoperator). In this state, current also flows through a reverse directionindicator 56, such as an LED that is located on the exterior of thehandle 6 to provide a visual indication to the operator that the motor42 direction has been reversed.

As shown in FIG. 3, the circuit may also comprise a manual return switch58. The operator may manually flip this switch 58 if the cuttinginstrument in the end effector 12 has only been partially fired.Switching the manual return switch 58 may cause the motor 42 to reverserotate, causing the cutting instrument to return to its original or homeposition. The switches of the motor control circuit 40 are not embodiedas a part of a semiconductor-based integrated circuit (IC) according tovarious embodiments. For instance, in various embodiments, each of theswitches may be separate microswitches or other suitable non-ICswitches.

Additional embodiments for the motor control circuit 40 may be found inU.S. Patent Application Publication No. 2010/0076474, now U.S. Pat. No.8,210,411, which is incorporated herein by reference in its entirety.

FIGS. 4-15 are views of a directional control assembly 70 for actuatinga switch, such as the direction switch 54, of the motor control circuit40 according to various embodiments of the present invention. Thedirection switch 54 may comprise, for example, a board-mountablemicroswitch that may be mounted on a lower surface of a circuit board 30by pins 36. The circuit board 30 may be located in the upper portion 28of the handle 6 (see FIGS. 1-2). Other circuit components for the motorcontrol circuit 40 may be mounted to the circuit board 30 withconductive traces on the circuit board 30 connecting the components. Forexample, other switches of the motor control circuit 40 may alsocomprise board-mountable microswitches that are mounted to the circuitboard 30, including either the upper and lower surfaces of the circuitboard 30. The other electronic switches are shown in FIGS. 4-15 aselement 34.

As shown more clearly in FIGS. 5-6 and 8-9, the direction switch 54 maycomprise a movable (e.g., depressible) switch actuator (e.g., plunger)72. In various embodiments, when the depressible switch actuator 72 isdepressed, the switch 54 is closed, thereby reversing the motor (withthe fire switch 46 also having been released or opened by the operator).Conversely, when the depressible actuator 72 is undepressed, as shown inFIGS. 5-6 and 8-9, the direction switch 54 is open. Embodiments of thepresent invention are generally described herein where the directionalcontrol assembly 70 is used for actuating the direction switch of amotor control circuit, in a motor-driven surgical instrument, althoughit should be noted that the control assembly 70 could be used to actuatea switch with another purpose in another type of device or instrument,and that the present invention is not limited to embodiments where thecontrol assembly is used to actuate a motor direction switch.

The depressible switch actuator 72 may be depressed, or actuated, by aslider 74, which may be made from a single piece of injection moldedplastic, for example. In other embodiments, the slider 74 may comprise acombination of multiple, separate parts; some of parts may be made frommaterials other than plastic. FIGS. 16-19 provide view of the slider 74according to various embodiments. FIG. 16 is a front perspective view;FIG. 17 is a back perspective view; FIG. 18 is a front view; and FIG. 19is a distal side view. As shown in the illustrated embodiment, theslider 74 may comprise a cantilevered arm 76. As shown in FIGS. 4-15,the cantilevered arm 76 of the slider 74 engages the depressible switchactuator 72 of the switch 54 when the slider 74 is urged, or pushed,distally by a proximate-side channel shoulder 78 at a proximate side ofa channel 80 defined by the front side of a rack 82. The back side ofthe rack 82 may comprise a series of teeth 84 that mesh with grooves ofa pinion 86. The pinion 86 is geared to, and rotated by, an output gearof the motor 42. In that way, the rack 82 may be translatedlongitudinally, either distally or proximately, by rotation, eitherforward or reverse, of the pinion 86.

As seen in FIGS. 5-6, 9, 11, 13-15, the distal end of the rack 82 maydefine an opening 38 for receiving the proximate end of the drive shaftthat drives the end effector 12. FIGS. 36-37 show the proximate end 148of the drive shaft 150 positioned in the opening 38 of the rack 82. Insuch a configuration, longitudinal movement of the rack 82 (caused byrotation of the pinion 86, which is caused by rotation of the motor 42)causes the drive shaft 150 to move longitudinally, to thereby actuate(or deactuate) components of the end effector 12, such as the cuttinginstrument 154.

When the rack 82 is moved proximately, a distal-side channel shoulder 88of the channel 80 may urge of push the slider 74 proximally, to therebymove the slider such that its cantilevered arm 76 is out of engagementwith the actuator 72, so that the actuator 72 is not depressed, so thatthe direction switch 54 is in the open position.

As shown, for example, in FIGS. 16-19, the cantilevered arm 76 maycomprise a first, upwardly sloping portion 90 extending from a baseportion 92 of the slider 74, and a second, downwardly sloping portion 94extending from the first portion 90. When the slider 74 is urged orpushed distally, the second portion 94 of the cantilevered arm 76 mayengage and depress the depressible actuator 72 on the switch 54. Invarious embodiments, the slider 74 may be pushed distally such that thesecond portion 94 is pushed distally past the actuator 72 so that theactuator 72 is held in the depressed position by the first portion 90 ofthe cantilevered arm 76.

Also as shown in FIGS. 16-19, the slider 74 may comprise an integratedtab 96 that extends rigidly from the slider 74. The tab 96 may comprisea first portion 98 that extends from a back portion 122 of the slider 74and a second portion 100 that extends from the first portion 98. Thesecond portion 100 of the tab 96 may sit movably in the channel 80 ofthe rack 82, as shown in FIGS. 6, 10-11, and 14-15. The tab 96 may bepushed by either the proximate-side channel shoulder 78 or thedistal-side channel shoulder 88 of the channel 80 when the rack 82 ismoved longitudinally distally or proximately, respectively, to therebymove the slider 74 distally or proximately with the tab 96.

The slider 74 may also comprise a brace portion 128 extending betweenthe base portion 92 and the back portion 122. The brace portion 128 mayprovide structural stability to the slider 74, reducing relativemovement between the back portion 122 and the base portion 92. As shownin the figures, in various embodiments the brace portion 128 may beorthogonal to both the back portion 122 and the base portion 92.

FIGS. 4, 6, 9, 12, and 14 show the slider 74 at the distal end of thechannel 80 of the rack 82. In this position, when the rack 82 is movingproximately, the distal-side channel shoulder 88 engages the tab 96 ofthe slider 74, pushing the tab 96, and thereby the slider 74, to itsmost proximate position, in which the depressible actuator 72 on theswitch is unactuated (e.g., not depressed). FIGS. 20 and 21 show theslider 74 at the proximate end of the channel 80 of the rack 82. In thisposition, when the rack 82 is moving distally, the proximate-sidechannel shoulder 78 engages the 76 of the slider 74, pushing the tab 96,and thereby the slider 74, to its most distal position, in which thedepressible actuator 72 on the switch 54 is actuated (e.g., depressed).

In such a manner, after the slider 74 is moved distally to actuate theswitch 54, the slider 74 stays at its distal-most position and theswitch 54 remains actuated by the slider 74 even when the rack 82changes direction and moves proximately, until the distal-side shoulder88 engages the tab 96 and moves the slider 74 proximately so that theslider 74 no longer actuates the switch 54. Similarly, after the slider74 is moved proximately so that it no longer actuates the switch 54, theslider 74 remains disengaged from the switch 54 such that the switch 54remains unactuated, even when the rack 82 changes direction and movesproximately, until the proximate-side shoulder 78 engages the tab 96 andmoves the slider 74 back to is distal-most, switch-actuating position.

Also as shown in FIGS. 16-19, the slider 74 may comprise an upper arm102 and a lower arm 104 that define a U-channel 106. The U-channel 106may engage a stopper on a frame that supports the circuit board 30 whenthe slider 74 is pushed to its most distal position, as describedfurther below. The stopper may tightly fit in the U-channel 106 suchthat the tightness of the fit keeps the slider 74 in the distal-mostposition even when the rack 82 is moving proximately. In variousembodiments, the force from the distal channel shoulder 88 against thetab 96 is sufficient to disengage the U-channel 106 from the stopper onthe frame, thereby allowing the slider 74 to be pushed by the distalchannel shoulder 88 from its distal position (shown in FIGS. 4, 6, 9,12, and 14) to its proximate position (shown in FIGS. 20-21). In thatway, the slider 74 does not move with the rack 82, but only when theeither of the channel shoulders 78, 88 of the rack 82 engage the tab 96disposed in the rack channel 80, thereby pushing the slider 74.

As mentioned above, the U-channel 106 defined by the slider 74 engages astopper on a frame inside in the handle 6 of the instrument 10. FIGS. 22and 23 show a portion of the frame 110 with the stopper 112. As shown inthese figures, the stopper 112 may extend from a side of the frame 110facing the slider 74. The stopper 112 may be shaped to fit snugly intothe U-channel 106 defined by the slider 106 when the slider 74 is in itsdistal-most position. FIG. 22 is a side view of the frame 110 and FIG.23 is a perspective view of the frame 110. The frame 110 may beconstructed from plastic, for example. The instrument 10 may comprise asecond frame piece (not shown) that connects to the frame 110.

FIGS. 24-26 show both the frame 110 and the slider 74. Other componentsof the direction control assembly 70 are not shown in FIGS. 24-26 forconvenience. FIG. 24 is a front perspective view of the frame 110 withthe slider 74 in its proximate position such that the U-channel 106 isnot engaged by the stopper 112 of the frame 110. FIG. 25 is a front sideview with the slider 74 in the proximate position. When the slider 74 isin its proximate position, the cantilevered arm 76 of the slider 74would not normally be depressing the depressible actuator 72 of theswitch 54. Conversely, FIG. 26 is a front side view that shows theslider 74 in its distal-most position. When the slider 74 is in thedistal-most position, the cantilevered arm 76 would normally bedepressing the depressible actuator 72 of the switch 54.

As shown in FIGS. 16-19, the slider 74 may also comprise a frame tab 120extending from the back portion 122 of the slider 74. The frame tab 120may comprise a neck 124 and a head 126. The neck 124 may be disposed ina slot 130 in the side of the frame 110 facing the slider 74 (see FIGS.22-27 for example). The slot 130 may confine the movement of the slider74 relative the frame 110 as the rack 82 moves the slider 74 asdescribed above.

FIGS. 27-31 show the frame 100 with the circuit board 30, the slider 74,the rack 82, and the pinion 86. The circuit board 30 may be connected toan upper surface of the frame 110, such as by screws or some othermounting technique. These figures also show portions of a gear assembly120 that is geared to the pinion 86. The gear assembly 120 may couplethe output drive shaft of the motor 42 to the pinion 86. FIG. 27 is afront side view; FIG. 28 is a back side view; FIG. 29 is a front side,distal perspective view; FIG. 30 is a back side, proximate perspectiveview; and FIG. 31 is a bottom side view.

FIG. 32 is a back side perspective view that shows the gear assembly 120geared to the pinion 86 (without showing the frame 110). As shown inFIG. 32, the gear assembly 120 may comprise (i) an upper gear 122 thatis geared to the pinion 86, and (ii) a lower gear assembly, covered by alower gear assembly cover 124, that rotates the upper gear 122. Thelower gear assembly may be coupled to the motor 42, as shown in FIGS.33-35. These figures show the motor 42, with an output shaft 130,coupled to the gear assembly 120. As can be seen in these figures, themotor 42 may be positioned in the pistol grip portion 26 of the handle6. These figures also show how the frame 110 fits into the upper portion28 of the handle 6 according to various embodiments. The battery pack 44(not shown in FIGS. 33-36) may be located in the pistol grip portion 26of the handle 6 below the motor 42.

In addition, although in the embodiments describes above a pinion wasused to longitudinally reciprocate the rack, other devices forlongitudinally reciprocating the rack may be used in other embodiments.For example, a screw drive or other means may be used to longitudinallyreciprocating the rack. Also, in other embodiments, the channel 80 ofthe rack 82 may comprise one or a number of wedges (or cams) that causethe slider 74 move generally perpendicular to the direction of movementof the rack 82 when the tab 96 of the slider 74 engages the wedge (orcam). In such embodiments, the perpendicular movement of the slider 74(relative to the direction of movement of the rack 82) may actuate ordeactuate the switch 54, depending on the location of the switchrelative to the slider. In addition, in other embodiments, the rack 82may comprise a cam and the slider 74 may comprise a cam follower. Insuch embodiments, longitudinal movement of the rack may induce eccentricmotion in the slider 74, which may actuate or deactuate the switch 54,depending on the location of the switch relative to the slider.

In other embodiments, the portion (e.g., the tab 96) of the slider 74that engages or interfaces with the channel 80 may be dynamic, therebyallowing the rack 82, with a fixed channel length, to be used ininstruments where the cutting stroke of the end effector 12 is differentfor different procedures. For example, the slider may have multipleinterface portions (e.g., tabs) that are selectively used depending onthe situation. This may be desirous, for example, where the end effector12 permits cartridges of different length, requiring different lengthsof cut by the cutting instrument in the end effector 12. In otherembodiments, the shaft/end effector combination may be replaceable toaccommodate uses requiring different lengths of cut by the cuttinginstrument in the end effector 12. For short cutting strokes, thereverse direction switch 54 needs to be actuated sooner in the cuttingstroke that for longer cutting strokes. FIG. 40 is a diagram of such aslider 74 according to various embodiments. FIG. 40 is a top view of aportion of the slider 74 showing the tab 96 extending outwardly into thechannel 80 defined by the drive member 82. Adjacent to the 96 is amovable second tab 400 that is capable of pivoting about one or morepivot points 402 on the body of the slider 74. The slider body may beconnected to the movable second tab 400 by pivoting arms 404. Thepivoting arms 404 may permit the second tab 400 to rotate pivotablytoward the channel 80 such that the second tab 400 extends into thechannel 80. When the second tab 400 is pivoted so that it extends intothe channel 80, the proximate-side channel shoulder 78 contacts thesecond tab 400 first, urging the slider body 74 into theswitch-actuating position as described above, at a time and length oftraveled distance less than it would take the shoulder 78 to contact thetab 96 if the second tab 400 was not extending into the channel 80. Inthat way, when the second tab 400 is extended into the channel, theswitch 54 can be actuated sooner in the cutting stroke than when thesecond tab 400 does not extend into the channel. That way, the drivemember 82 can be used in procedures where a shorting cutting stroke isused, requiring sooner activation of the reverse motor switch 54.

In various embodiments, the second tab 400 can be pivoted into thechannel 80 by force from a pusher 408 that engages a portion 410 of thesecond tab 400. For example, relative to the view of FIG. 40, theportion 410 may extend downwardly, into the page, from the second tab400 and the pusher 408 may be located below (into the page) the sliderbody 74. The pusher 408 may be urged proximately when a short cuttingstroke is needed, thereby causing the pusher 408 to engage the extendingportion 410 of the second tab 400, thereby causing the second tab 400 toextend into the channel 400. The pusher 408 may also comprise a wedgeportion 412 that wedges between the slider body 74 and the second tab400 so that second tab 400 remains rotated/extended even when theshoulder 78 engages the tab 400. Yet the pusher 408 may move with theslider 74 so that the slider 74 can be moved to its switch-actuatingposition when the proximate-side shoulder 78 of the channel 80 engagesthe second tab 400. In another embodiment, the pusher 408 may be movedtoward the drive member 82 (rather than proximately) to thereby move thesecond tab 400 toward the channel 80.

The pusher 408 may be activated mechanically (such as by anoperator-actuated lever or different shaft that cause the pusher 408 tobe actuated) magnetically (such as by a solenoid) electrically (such asshape memory materials that change shape with heat caused by electricalcurrent), or any other suitable means.

In addition, in various embodiments, the operation and movement of theslider 74 may be overridden by a user of the instrument to permit, forexample, early return (proximate movement) of the rack 82. For example,the instrument 10 may comprise an externally-accessible manual overridecontrol (such as a lever or switch) that, when actuated by the user,causes the motor to stop or reverse direction, regardless of the statusof the slider 74. For example, in one embodiment, actuation of theexternally-accessible manual override control may disengage the pinion86 from the rack 82 so that the rack 82 is not driven by the pinion 86.The motor control circuit in such an embodiment may include circuitcomponents that reverse the motor even if the slider 74 is not in itsswitch-actuating position.

In addition, in other embodiments, rather than using alongitudinally-moving drive member (e.g., rack 82), the instrument maycomprise a rotating drive member that drives the slider 74 relative tothe switch 54. For example, FIG. 38 is a diagram of a spirally rotating(i.e., rotating about the roll axis) drive member 300. As shown in FIG.38, the drive member 300 defines a helical channel 302 having a firstshoulder 304 at the proximate-side of the channel 302 and a secondshoulder 306 at the distal-side of the channel 302. When the drivemember 300 forwards rotates about its roll axis, the proximate-sideshoulder 304 may engage the slider 74 to urge it to its switch-actuatingposition. Similarly, when the drive member 300 reverse rotates about itsroll axis, the distal-side shoulder 306 may engage the slider 74 to urgeit to its non-switch-actuating position. The drive member 300 may berotated by the motor 42 using an appropriate gearing structure.

In another embodiment, as shown in FIG. 39, the drive member 320 may becircular or elliptical, such as disk-shaped, and rotate about its yawaxis. In such an embodiment, the disk-shaped drive member 320 may definea peripheral channel 322 that extend partially around the periphery ofthe drive member 320. The channel 322 comprises a first shoulder 324 ata first side of the channel 322 and a second shoulder 326 at a secondside of the channel 322. When the drive member 320 rotates CCW about itsyaw axis, the first shoulder 324 may engage the slider 74 to urge it toits switch-actuating position. Similarly, when the drive member 320rotates CW about its yaw axis, the second side shoulder 326 may engagethe slider 74 to urge it to its non-switch-actuating position. The drivemember 320 may be rotated by the motor 42 using an appropriate gearingstructure. In FIG. 39, the channel 322 is a 90 degree arc; it otherembodiments arcs of different size may be used for the channel.

The surgical instruments disclosed herein can be designed to be disposedof after a single use, or they can be designed to be used multipletimes. In either case, however, the device can be reconditioned forreuse after at least one use. Reconditioning can include any combinationof the steps of disassembly of the surgical instrument, followed bycleaning or replacement of particular pieces, and subsequent reassembly.In particular, the surgical instrument can be disassembled, and anynumber of the particular pieces or parts of the device can beselectively replaced or removed in any combination. Upon cleaning and/orreplacement of particular parts, the surgical instrument can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a surgicalinstrument can utilize a variety of techniques for disassembly,cleaning/replacement, and reassembly. Use of such techniques, and theresulting reconditioned surgical instrument, are all within the scope ofthe present application.

Preferably, the surgical instrument described herein will be processedbefore surgery. First, a new or used instrument is obtained and ifnecessary cleaned. The instrument can then be sterilized. In onesterilization technique, the instrument is placed in a closed and sealedcontainer, such as a plastic or TYVEK bag. The container and instrumentare then placed in a field of radiation that can penetrate thecontainer, such as gamma radiation, x-rays, or high-energy electrons.The radiation kills bacteria on the instrument and in the container. Thesterilized instrument can then be stored in the sterile container. Thesealed container keeps the instrument sterile until it is opened in themedical facility.

Therefore, in various embodiments, the present invention is directed toa surgical instrument that comprises: (i) a handle; (ii) an end effectorconnected to the handle; (iii) an electric motor in the handle forpowering the end effector; (iv) a motor control circuit connected to themotor for controlling the motor; (v) a drive member that is driven bythe motor; and (vi) a slider. The motor control circuit comprises aplurality of switches, including a first switch with a movable (e.g.,depressible) actuator (e.g., plunger). The drive member, when driven bythe motor, cause movement of a movable component in the end effector,and comprises a first shoulder at a first position and a second shoulderat a second position. The slider comprises a first portion and a secondportion. The first portion extends interfaces the drive member such thatthe slider is movable in a direction of movement of the drive memberwhen either the first shoulder or the second shoulder of the rackengages the first portion. The second portion of the slider actuates themovable actuator of the first switch when the drive member moves theslider to a first position relative to the first switch. In variousembodiments, the motor control circuit does not comprise an integratedcircuit.

In various implementations, the drive member is rotated by the motor,such as about a roll axis or yaw axis of the drive member. In otherembodiments, the drive member is drive longitudinally by the motor. Forexample, in such embodiments, the drive member may comprise a rack thatis geared to a pinion that the rotated by the motor, such that rotationof the motor cause the rack to move longitudinally. The rack moves theslider to the first position relative to the first switch when the rackis moved longitudinally in a first direction by the pinion such that thefirst shoulder engages the tab of the slider, the slider remains in thefirst position relative to the first switch when the rack is movedlongitudinally in a second direction by the pinion that is opposite thefirst direction until the second shoulder of the rack engages the tab ofthe slider, and the slider moves out of engagement with the movableactuator when the second shoulder of the rack moves the slider from thefirst position relative to the first switch to a second positionrelative to the first switch.

The surgical instrument may further comprise a frame inside the handlethat comprises a stopper. The slider may comprise an upper arm and alower arm that collectively define a U-channel. The U-channel may engagethe stopper when the slider is moved to the first position relative tothe first switch.

In yet other general embodiments, the present invention is directed to adevice that actuates a switch having a movable actuator, where thedevice comprise: (i) a longitudinally-movable rack; and (ii) a sliderthat engages the rack such that longitudinally movement of the rackcauses the slider to move relative to the switch such that the slideractuates the movable actuator of the switch when the rack moves theslider to a first position relative to the switch. In variousimplementations, longitudinal movement of the rack may causelongitudinal, perpendicular, or eccentric movement of the slider.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this invention pertains.

1-20. (canceled)
 21. A surgical instrument, comprising: an end effector comprising a movable component; an electric motor for powering the end effector; a movable drive member that is driven in a first direction when the electric motor operates in a first direction and that is driven in a second direction when the electric motor operates in a second direction, wherein movement of the drive member causes movement of the movable component of the end effector; and a motor control circuit inside the surgical instrument and connected to the motor for controlling the motor such that, upon activation, the motor control circuit reverses direction of the motor from the first direction to the second direction, wherein the motor control circuit is actuatable separately through each of: actuation of a movable switch actuator of the motor control circuit through movement of the drive member; and manual actuation by a user of the surgical instrument, and wherein the motor control circuit comprises a plurality of switches that are mounted to a circuit board and that are not embodied as part of an integrated circuit.
 22. The surgical instrument of claim 21, wherein the plurality of switches comprises: a first reverse switch that, upon manual actuation by a user, reverses direction of the motor; and a second reverse switch that comprises a depressible actuator, wherein actuation of the depressible switch actuator through movement of the drive member in the first direction reverses direction of the motor.
 23. The surgical instrument of claim 22, wherein: the movable drive member defines a channel; the surgical instrument comprises a movable switch actuator that is movable between a first switch actuator position and a second switch actuator position; and the movable switch actuator comprises: a first portion that is disposed in the channel defined by the movable drive member; and a second portion that actuates the depressible actuator of the second reverse switch when the drive member engages the first portion of the movable switch actuator to move the movable switch actuator from the first switch actuator position to the second switch actuator position.
 24. The surgical instrument of claim 23, wherein the movable switch actuator remains in the second switch actuator position relative to the second reverse switch until the drive member engages the movable switch actuator to move the movable switch actuator in the second direction from the second switch actuator position.
 25. The surgical instrument of claim 24, wherein: the channel defined by the drive member comprises a first shoulder at a first end of the channel and a second shoulder at a second end of the channel; and the first portion of the movable switch actuator interfaces the drive member such that the movable switch actuator is movable by the drive member when either the first shoulder or the second shoulder of the drive member engages the first portion of the movable switch actuator; the second portion of the movable switch actuator actuates the depressible actuator of the second reverse switch when the first shoulder of the drive member engages the first portion of the movable switch actuator to move the first portion and the second portion of the movable switch actuator from the first switch actuator position to the second switch actuator position relative to the second reverse switch; and the movable switch actuator remains in the second switch actuator position relative to the second reverse switch until the second shoulder of the drive member engages the first portion of the movable switch actuator to move the movable switch actuator from the second switch actuator position to the first switch actuator position.
 26. The surgical instrument of claim 25, wherein: the drive member moves the movable switch actuator to the second switch actuator position relative to the second reverse switch when the drive member is moved in the first direction such that the first shoulder engages the first portion of the movable switch actuator; the movable switch actuator remains in the second switch actuator position relative to the first switch when the drive member is moved in the second direction until the second shoulder of the drive member engages the first portion of the movable switch actuator; and the movable switch actuator moves out of engagement with the depressible actuator when the second shoulder of the drive member moves the movable switch actuator from the second switch actuator position relative to the second reverse switch to the first switch actuator position relative to the second reverse switch.
 27. The surgical instrument of claim 23, further comprising a pinion that is rotated by the electric motor, and wherein the pinion drives the drive member in the first direction when actuated by the electric motor.
 28. The surgical instrument of claim 23, wherein: the drive member rotates about a roll axis of the drive member when driven by the electric motor; and the channel defined by the drive member comprises a helical channel defined in the drive member.
 29. The surgical instrument of claim 23, wherein: the drive member rotates about a yaw axis of the drive member when driven by the electric motor; and the channel defined by the drive member comprises a peripheral channel that extends partially around a periphery of the drive member.
 30. The surgical instrument of claim 21, further comprising a handle, wherein: the electric motor is positioned in the handle; and the circuit board is positioned in the handle.
 31. The surgical instrument of claim 30, further comprising a frame inside the handle, wherein: the circuit board is connected to the frame; the frame comprises a stopper; the movable switch actuator defines a U-channel; and the U-channel engages the stopper when the movable switch actuator is moved to the second switch actuator position relative to the second switch.
 32. The surgical instrument of claim 21, wherein the movable component of the end effector comprises a movable cutting instrument.
 33. The surgical instrument of claim 27, wherein: the drive member comprises a rack that is driven longitudinally by a rotation of the pinion; and the movable switch actuator moves in a same direction as the rack.
 34. The surgical instrument of claim 33, wherein the rack comprises: teeth geared to the pinion; and a first side that defines the channel.
 35. The surgical instrument of claim 34, wherein: the second portion of the movable switch actuator comprises a cantilevered arm; the cantilevered arm engages the depressible actuator of the second reverse switch to actuate the depressible actuator when the rack moves the movable switch actuator to the second slider position relative to the second reverse switch.
 36. A surgical instrument, comprising: an end effector comprising a movable component; an electric motor for powering the end effector; a movable drive member that is driven in a first direction when the electric motor operates in a first direction and that is driven in a second direction when the electric motor operates in a second direction, wherein movement of the drive member causes movement of the movable component of the end effector; and a plurality of switch inside the surgical instrument and connected to the motor for controlling the motor such that, upon activation, the plurality of switches reverses direction of the motor from the first direction to the second direction, wherein the plurality of switches are mounted to a circuit board and are not embodied as part of an integrated circuit. 